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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
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#include "GPSManager.h"
#include <QDebug>
GPSManager::GPSManager(QGCApplication* app)
: QGCTool(app)
{
qRegisterMetaType<GPSPositionMessage>();
qRegisterMetaType<GPSSatelliteMessage>();
}
GPSManager::~GPSManager()
{
cleanup();
}
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{
Q_ASSERT(_toolbox);
cleanup();
_requestGpsStop = false;
_gpsProvider = new GPSProvider(device, true, _requestGpsStop);
_gpsProvider->start();
//create RTCM device
_rtcmMavlink = new RTCMMavlink(*_toolbox);
connect(_gpsProvider, SIGNAL(RTCMDataUpdate(QByteArray)), _rtcmMavlink,
SLOT(RTCMDataUpdate(QByteArray)));
//test: connect to position update
connect(_gpsProvider, SIGNAL(positionUpdate(GPSPositionMessage)), this,
SLOT(GPSPositionUpdate(GPSPositionMessage)));
connect(_gpsProvider, SIGNAL(satelliteInfoUpdate(GPSSatelliteMessage)), this,
SLOT(GPSSatelliteUpdate(GPSSatelliteMessage)));
}
void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
{
qDebug("GPS: got position update: alt=%i, long=%i, lat=%i",
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msg.position_data.alt, msg.position_data.lon,
msg.position_data.lat);
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}
void GPSManager::GPSSatelliteUpdate(GPSSatelliteMessage msg)
{
qDebug("GPS: got satellite info update, %i satellites", (int)msg.satellite_data.count);
}
void GPSManager::cleanup()
{
if (_gpsProvider) {
_requestGpsStop = true;
//Note that we need a relatively high timeout to be sure the GPS thread finished.
if (!_gpsProvider->wait(2000)) {
qWarning() << "Failed to wait for GPS thread exit. Consider increasing the timeout";
}
delete(_gpsProvider);
}
if (_rtcmMavlink) {
delete(_rtcmMavlink);
}
}